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Empirical self—constituted by the gunas, the strands of matter [sattva (lucidity), rajas (passion), and tamas (dark inertia)] that form the basis of all psycho-physical existence. These three intertwine to make the rope that binds humans to nature. This self must be disciplined and brought under control so that the individual can come to higher knowledge, freed from ignorance.

Renunciation of actions or nonattached action—we are bound by our attachments to the different kinds of matter.

Those attached to sattva are inclined to intellectual activity.

Those attached to rajas are inclined to vigorous action, and

those attached to tamas are inclined to devotional activity.

Disciplined nonattachment relates to each of these types of attachment. So there is the yoga of knowledge, of work, and of devotion. The goal of each pathway is to achieve independence of the gunas, but this only happens by working through the guna self.

the force of one’s action in determining what one is and will be. A store of actions that binds one to phenomenal existence. One cannot escape action. One can act without concern for consequences and so escape the bondage of action.

Action and effect

Embodied in matter

Adhere to the soul

Life circumstances of any individual are an effect of deeds and character in previous lives

Dharma—sacred duty; from the Sanskrit meaning “that which sustains.” What one should do because it supports the individual and society and is therefore the right thing to do. Dharma is the guide to moral action. Notice that the right thing to do is decided according to categories of social position, kinship, and stage in life. There is a relativity of values and obligations that may be difficult because of our tendency to seek for universal moral principles.

Moksha—freedom, liberation. In the Gita, liberation is from the bondage of human action. It is based on detachment and freedom within oneself.